Systems and methods for precise radio frequency localization of a wireless arbitrary device

ABSTRACT

Systems and apparatuses for determining location of a wireless arbitrary device are disclosed herein. In one example, a computer implemented method for localization of a wireless arbitrary device in a wireless network architecture comprises initializing the wireless network architecture having a plurality of wireless anchor nodes and a plurality of wireless sensor nodes. The method further includes preparing, with the plurality of wireless anchor nodes, for localization of the wireless arbitrary device, waiting to receive a packet from the wireless arbitrary device, receiving a communication including a packet from the wireless arbitrary device, and transmitting a communication including a synchronization packet to other anchor nodes of the plurality of wireless anchor nodes.

RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.16/277,736, filed Feb. 15, 2019, entitled: SYSTEMS AND METHODS FORPRECISE RADIO FREQUENCY LOCALIZATION OF A WIRELESS ARBITRARY DEVICE,which is a continuation-in-part of U.S. Pat. No. 10,660,060, issued onMay 19, 2020, entitled: SYSTEMS AND METHODS FOR PRECISE RADIO FREQUENCYLOCALIZATION OF A WIRELESS ARBITRARY DEVICE, which are incorporated byreference herein.

FIELD

Embodiments of the invention pertain to systems and methods for preciseradio frequency localization of a wireless arbitrary device using timedifference of arrival information.

BACKGROUND

In the consumer electronics and computer industries, wireless sensornetworks have been studied for many years. In archetypal wireless sensornetworks, one or more sensors are implemented in conjunction with aradio to enable wireless collection of data from one or more sensornodes deployed within a network. Each sensor node may include one ormore sensors, and will include a radio and a power source for poweringthe operation of the sensor node. Location detection of nodes in indoorwireless networks is useful and important in many applications.

Localization based on time difference of arrival (TDoA) technique formultilateration is performed using radio frequency measurements fordetermining location of wirelessly equipped objects in three dimensionalspace. RF-based localization may be performed in numerous ways. Anexemplary implementation includes a hub and multiple sensor nodes. Notethat the hub may be replaced with a node, or indeed, one or more of thenodes may be replaced with a hub. Distances are estimated using radiofrequency techniques between all the individual pairs via RFcommunications. In TDoA, one node transmits a signal. Multiple othernodes receive the signal, and the time difference between reception ateach receive node is calculated. TDoA requires synchronization of thereceivers to accurately measure the difference in receive times. Thiscan be done by operating all of the receivers on a shared clock andcomparing absolute timestamps. In systems where a shared clock is notavailable, the receivers must be synchronized in another way.

SUMMARY

For one embodiment of the present invention, systems and apparatuses fordetermining location of a wireless arbitrary device in a wirelessnetwork architecture are disclosed herein. In one example, anasynchronous system for localization of a wireless arbitrary device in awireless network architecture includes a plurality of wireless anchornodes each having a wireless device with one or more processing unitsand RF circuitry for transmitting and receiving communications in thewireless network architecture. The one or more processing units of atleast one wireless anchor node are configured to receive instructions toprepare for localization of the wireless arbitrary device, to change aRF channel to be the same as an RF channel of the wireless arbitrarydevice based on the received instructions, to receive a communicationincluding data traffic from the wireless arbitrary device, and to obtainranging information including a receive timestamp and channel senseinformation (CSI) from the data traffic.

In another embodiment, a computer implemented method for localization ofa wireless arbitrary device in a wireless network architecture includesinitializing a wireless network architecture having a plurality ofwireless anchor nodes and a plurality of wireless sensor nodes,preparing, with the plurality of wireless anchor nodes, for localizationof the wireless arbitrary device, changing a RF channel of the pluralityof wireless anchor nodes to be the same as a RF channel of the wirelessarbitrary device, receiving, with the plurality of wireless anchornodes, a communication including data traffic from the wirelessarbitrary device, and obtaining, with the plurality of wireless anchornodes, ranging information including a receive timestamp and channelsense information (CSI) from the received data traffic.

In another embodiment, a computer implemented method for localization ofa wireless arbitrary device in a wireless network architecture,comprises initializing a wireless network architecture having aplurality of wireless anchor nodes and a plurality of wireless sensornodes, preparing, with the plurality of wireless anchor nodes, forlocalization of the wireless arbitrary device, waiting, with at leastone anchor node, to receive a packet from the wireless arbitrary device,receiving, with the at least one anchor node, a communication includinga packet from the wireless arbitrary device, and transmitting, with theat least one anchor node, a communication including a synchronizationpacket to other anchor nodes of the plurality of wireless anchor nodes.

Other features and advantages of embodiments of the present inventionwill be apparent from the accompanying drawings and from the detaileddescription that follows below.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention are illustrated by way of exampleand not limitation in the figures of the accompanying drawings, in whichlike references indicate similar elements, and in which:

FIG. 1A shows an exemplar system of wireless nodes in accordance withone embodiment.

FIG. 1B shows an exemplar system of wireless nodes having multiple hubsfor communicating in accordance with one embodiment.

FIG. 2A illustrates a system for localization of nodes utilizing timedifference of arrival in accordance with one embodiment.

FIG. 2B illustrates a timing diagram 352 for localization of a wirelessarbitrary device in accordance with one embodiment.

FIG. 3 illustrates a cloud based system for localization of nodesutilizing time difference of arrival in accordance with anotherembodiment.

FIGS. 4A and 4B illustrate a method for determining a locationestimation of an arbitrary wireless device having an unknown location inaccordance with one embodiment.

FIG. 5A illustrates a system 500 for localization of an arbitrary deviceutilizing time difference of arrival in accordance with one embodiment.

FIG. 5B illustrates a timing diagram for communications of the system500 in accordance with one embodiment.

FIG. 6A illustrates a method for scheduling a transmission of an anchornode within a same time period as a transmission of a wireless arbitrarydevice in accordance with one embodiment.

FIG. 6B illustrates a reactive method for scheduling a transmission ofan anchor node within a same time period as a transmission of a wirelessarbitrary device in accordance with one embodiment.

FIG. 6C illustrates a predictive method for scheduling a transmission ofan anchor node within a same time period as a transmission of a wirelessarbitrary device in accordance with one embodiment.

FIG. 6D illustrates a hybrid method for scheduling a transmission of ananchor node within a same time period as a transmission of a wirelessarbitrary device in accordance with one embodiment.

FIG. 7A shows an exemplary embodiment of a hub implemented as an overlay1500 for an electrical power outlet in accordance with one embodiment.

FIG. 7B shows an exemplary embodiment of an exploded view of a blockdiagram of a hub implemented as an overlay for an electrical poweroutlet in accordance with one embodiment.

FIG. 8A shows an exemplary embodiment of a hub implemented as a card fordeployment in a computer system, appliance, or communication hub inaccordance with one embodiment.

FIG. 8B shows an exemplary embodiment of a block diagram of a hub 964implemented as a card for deployment in a computer system, appliance, orcommunication hub in accordance with one embodiment.

FIG. 8C shows an exemplary embodiment of a hub implemented within anappliance (e.g., smart washing machine, smart refrigerator, smartthermostat, other smart appliances, etc.) in accordance with oneembodiment.

FIG. 8D shows an exemplary embodiment of an exploded view of a blockdiagram of a hub 1684 implemented within an appliance (e.g., smartwashing machine, smart refrigerator, smart thermostat, other smartappliances, etc.) in accordance with one embodiment.

FIG. 9 illustrates a block diagram of a sensor node in accordance withone embodiment.

FIG. 10 illustrates a block diagram of a system or appliance 1800 havinga hub in accordance with one embodiment.

DETAILED DESCRIPTION

Systems and methods for precise radio frequency localization ofarbitrary devices are disclosed herein. In one example, an arbitrarydevice is tracked or located with a wireless sensor network thatincludes wireless nodes (e.g., hubs, sensors nodes, anchor nodes havingknown locations, access points). The arbitrary device may have noassociation with the wireless sensor network and only have anassociation with an access point. Wireless nodes have an ability tocapture receive timestamp communications and CSI of frames of thearbitrary device. A localization cloud service or cloud network entityhas a compute capability and connectivity to anchor nodes and arbitrarydevices (e.g., arbitrary wireless cellular device, arbitrary wirelesslocal area network devices, arbitrary wireless WiFi devices).

In one example, the one or more processing units of a wireless node orlocalization cloud service are configured to execute instructions for amultilateration algorithm to determine a location of an arbitrarywireless device having an unknown and mobile location using the timedifference of arrival information.

In various applications of wireless sensor networks, it may be desirableto determine the location of sensor nodes and arbitrary wireless deviceswithin the network. For example, such information may be used toestimate the relative position of sensors such as security cameras,motion sensors, temperature sensors, and other such sensors as would beapparent to one of skill in the art. This information may then be usedto produce augmented information such as maps of temperature, motionpaths, and multi-view image captures. Therefore, localization systemsand methods are desired to enable accurate, low-power, and context-awarelocalization of nodes in wireless networks, particularly in indoorenvironments. For the purpose of this, indoor environments are alsoassumed to include near-indoor environments such as in the region aroundbuilding and other structures, where similar issues (e.g., presence ofnearby walls, etc.) may be present.

A wireless sensor network is described for use in an indoor environmentincluding homes, apartments, office and commercial buildings, and nearbyexterior locations such as parking lots, walkways, and gardens. Thewireless sensor network may also be used in any type of building,structure, enclosure, vehicle, boat, etc. having a power source. Thesensor system provides good battery life for sensor nodes whilemaintaining long communication distances.

Embodiments of the invention provide systems, apparatuses, and methodsfor localization detection in indoor environments. U.S. patentapplication Ser. No. 14/830,668 filed on Aug. 19, 2015, which isincorporated by reference herein, discloses techniques for RF-basedlocalization. Specifically, the systems, apparatuses, and methodsimplement localization in a wireless sensor network that primarily usesa tree network structure for communication with periodic mesh-basedfeatures for path length estimation when localization is needed. Thewireless sensor network has improved accuracy of localization whilesimultaneously providing good quality of indoor communication by usinghigh-frequencies for localization and lower frequencies forcommunication.

Tree-like wireless sensor networks are attractive for many applicationsdue to their reduced power requirements associated with the radio signalreception functionality. An exemplar tree-like network architecture hasbeen described in U.S. patent application Ser. No. 14/607,045 filed onJan. 29, 2015, U.S. patent application Ser. No. 14/607,047 filed on Jan.29, 2015, U.S. patent application Ser. No. 14/607,048 filed on Jan. 29,2015, and U.S. patent application Ser. No. 14/607,050 filed on Jan. 29,2015, which are incorporated by reference in entirety herein.

Another type of wireless network that is often used is a mesh network.In this network, communication occurs between one or more neighbors, andinformation may then be passed along the network using a multi-hoparchitecture. This may be used to reduce transmit power requirements,since information is sent over shorter distances. On the other hand,receive radio power requirements may increase, since it is necessary forthe receive radios to be on frequently to enable the multi-hopcommunication scheme.

FIG. 1A illustrates an exemplar system of wireless nodes in accordancewith one embodiment. This exemplar system 100 includes wireless nodes110-116. The nodes communicate bi-directionally with communications120-130 (e.g., node identification information, sensor data, node statusinformation, synchronization information, localization information,other such information for the wireless sensor network, time of flight(TOF) communications, etc.). Based on using time of flight measurements,path lengths between individual pairs of nodes can be estimated. Anindividual time of flight measurement between nodes 110 and 111 forexample, can be achieved by sending a signal at a known time from node110 to node 111. Node 111 receives the signal, records a time stamp ofreception of the signal of the communications 120, and can then, forexample, send a return signal back to A, with a time stamp oftransmission of the return signal. Node 110 receives the signal andrecords a time stamp of reception. Based on these two transmit andreceive time stamps, an average time of flight between nodes 110 and 111can be estimated based on computations of at least one of the nodes orbased on computations of a cloud network entity 190. This process can berepeated multiple times and at multiple frequencies to improve precisionand to eliminate or reduce degradation due to poor channel quality at aspecific frequency. A set of path lengths can be estimated by repeatingthis process for various node pairs. For example, in FIG. 1, the pathlengths are TOF 150-160. Then, by using a geometric model, the relativeposition of individual nodes can be estimated based on atriangulation-like process.

This triangulation process is not feasible in a tree-like network, sinceonly path lengths between any node and a hub can be measured. This thenlimits localization capability of a tree network. To preserve the energybenefits of a tree network while allowing localization, in oneembodiment of this invention, a tree network for communication iscombined with mesh-like network functionality for localization. Oncelocalization is complete with mesh-like network functionality, thenetwork switches back to tree-like communication and only time offlights between the nodes and the hub are measured periodically.Provided these time of flights are held relatively constant, the networkthen assumes nodes have not moved and does not waste energy isattempting to re-run mesh-based localization. On the other hand, when achange in path length in the tree network is detected, the networkswitches to a mesh-based system and re-triangulates to determinelocation of each node in the network.

In another example, a multilateration algorithm is performed todetermine a location of a wireless arbitrary device having an unknownlocation using time difference of arrival information for a plurality ofnodes.

FIG. 1B shows an exemplar system of wireless nodes having multiple hubsfor communicating in accordance with one embodiment. The system 700includes a central hub 710 having a wireless control device 711, hub 720having a wireless control device 721, hub 782 having a wireless controldevice 783, and additional hubs including hub n having a wirelesscontrol device n. Additional hubs which are not shown can communicatewith the central hub 710, other hubs, or can be an additional centralhub. Each hub communicates bi-directionally with other hubs and one ormore sensor nodes. The hubs are also designed to communicatebi-directionally with other devices including an arbitrary device 780(e.g., client device, mobile device, tablet device, computing device,smart appliance, smart TV, etc.) having an unknown location. Thearbitrary device 780 may only be associated with an access point (e.g.,hub 710) or an access point that is separate from the hub 710.

The sensor nodes 730, 740, 750, 760, 770, 788, 792, n, and n+1 (orterminal nodes) each include a wireless device 731, 741, 751, 761, 771,789, 793, 758, and 753, respectively. A sensor node is a terminal nodeif it only has upstream communications with a higher level hub or nodeand no downstream communications with another hub or node. Each wirelessdevice includes RF circuitry with a transmitter and a receiver (ortransceiver) to enable bi-directional communications with hubs or othersensor nodes.

In one embodiment, the central hub 710 communicates with hubs 720, 782,hub n, device 780, and nodes 760 and 770. These communications includecommunications 722, 724, 774, 772, 764, 762, 781, 784, 786, 714, and 712in the wireless asymmetric network architecture. The central hub havingthe wireless control device 711 is configured to send communications toother hubs and to receive communications from the other hubs forcontrolling and monitoring the wireless asymmetric network architectureincluding assigning groups of nodes and a guaranteed time signal foreach group.

The hub 720 communicates with central hub 710 and also sensors nodes730, 740, and 750. The communications with these sensor nodes includecommunications 732, 734, 742, 744, 752, and 754. For example, from theperspective of the hub 720, the communication 732 is received by the huband the communication 734 is transmitted to the sensor node. From theperspective of the sensor node 730, the communication 732 is transmittedto the hub 720 and the communication 734 is received from the hub.

In one embodiment, a central hub (or other hubs) assign nodes 760 and770 to a group 716, nodes 730, 740, and 750 to a group 715, nodes 788and 792 to a group 717, and nodes n and n+1 to a group n. In anotherexample, groups 716 and 715 are combined into a single group.

By using the architecture illustrated in FIG. 1B, nodes requiring longbattery life minimize the energy expended on communication and higherlevel nodes in the tree hierarchy are implemented using available energysources or may alternatively use batteries offering higher capacities ordelivering shorter battery life. To facilitate achievement of longbattery life on the battery-operated terminal nodes, communicationbetween those nodes and their upper level counterparts (hereafterreferred to as lowest-level hubs) may be established such that minimaltransmit and receive traffic occurs between the lowest-level hubs andthe terminal nodes.

In one embodiment, the nodes spend most of their time (e.g., more than90% of their time, more than 95% of their time, approximately 98% ormore than 99% of their time) in a low-energy non-communicative state.When the node wakes up and enters a communicative state, the nodes areoperable to transmit data to the lowest-level hubs. This data mayinclude node identification information, sensor data, node statusinformation, synchronization information, localization information andother such information for the wireless sensor network.

To determine the distance between two objects based on RF, rangingmeasurements are performed (i.e., RF communication is used to estimatethe distance between the pair of objects). To achieve this, an RF signalis sent from one device to another. FIGS. 3-8C of U.S. patentapplication Ser. No. 15/173,531 illustrate embodiments of time of flightmeasurement systems.

FIG. 2A illustrates a system for localization of nodes utilizing timedifference of arrival in accordance with one embodiment. The system 400is configured to have one master node 410 (M410) integrated with anaccess point, one wireless arbitrary device 440 at unknown location(N440), and sniff nodes (e.g., S420, S430, etc.). FIG. 2B illustrates atiming diagram for communications of the system 400 in accordance withone embodiment. The wireless arbitrary device N440 initiates the packettransaction during a non-sleep or non-low power state. The device N440may typically be in a sleep state or low power state. N440 sends acommunication 441 (e.g., forward packet 441) to the master (M) node 410at time T₁. The master node 410 receives the communication 441 at timeT₂. The master node 410 responds with a communication 412 (e.g., anacknowledgement packet 412) at time T₅. The sniff nodes 420 and 430listen to the communications 442-443 at times T₄ and T₃ (e.g., forwardpackets 442-443) from N440 and the communications 402 and 404 (e.g.,acknowledgement packet 402 and 404) from the master node 410. The sniffnode 420 receives the communication 443 at time T₃ and receives thecommunication 402 at time T₆. The sniff node 430 receives thecommunication 442 at time T₄ and receives the communication 404 at timeT₇. The received packets 441-443 originate from the same communicationfrom N440.

The TDoA is now calculated based on the arrival of the forward packetsat the master and sniff nodes from N440. The packet transmission time ofthe acknowledgement packets from the master node is now used to alignthe timing between the nodes in accordance with Equation 1 with deltaoffset equaling T₆−T₅−T_(oF M410-S)420:

$\begin{matrix}{T_{{{DoA}\mspace{14mu} M\; 410} - {S\; 420}} =} & {T_{2} - T_{3}^{M\; 410}} \\{=} & {T_{2} - T_{3} - {{delta}\mspace{14mu}{offset}\mspace{14mu}{between}\mspace{14mu}{clocks}\mspace{14mu}{of}\mspace{14mu} M\; 410\mspace{14mu}{and}}} \\ & {S\; 420} \\{=} & {\left( {T_{2} - T_{3}} \right) + T_{6} - T_{5} - T_{{{oF}\mspace{14mu} M\; 410} - {S\; 420}}} \\{=} & {\left( {T_{2\mspace{14mu}{sampling}} +_{\mspace{14mu}{T\; 2{frac}}}{- T_{3{sampling}}} - T_{3\mspace{14mu}{frac}}} \right) +} \\ & {T_{6\mspace{14mu}{sampling}} + T_{6\mspace{14mu}{frac}} - T_{5\mspace{14mu}{sampling}} - T_{5\mspace{14mu}{frac}} - T_{{{oF}\mspace{14mu} M\; 410} - {S\; 420}}}\end{matrix}$

FIG. 3 illustrates a cloud based system for localization of nodesutilizing time difference of arrival in accordance with anotherembodiment. The system 401 is configured to have a cloud network entity450, one master node 410 (M410) integrated with an access point, onewireless arbitrary device 440 at unknown location (N440), and sniffnodes (e.g., S420, S430, etc.). TDoA is performed for system 401 in asimilar manner as described above for system 400, except with the system401 additionally having bi-directional communications 445 between AP 411and the cloud network entity 450. TDoA calculations can be performedwith the master node or the cloud network entity 450.

In one embodiment for localization of an arbitrary wireless device thatis only associated with an access point (not associated with a masternode nor other wireless nodes), no changes are needed for a wirelesscommunication protocol stack (e.g., WiFi protocol stack) on thearbitrary wireless device. Rather, the arbitrary device only hasapplication level changes. Prior to a localization or tracking App beinginstalled, the arbitrary device has no association with components ofthe wireless network including hubs and sensor nodes.

An anchor function of an anchor node may or may not be integrated intothe same device as the WiFi AP function of an access point. In oneexample, a wireless communication module of the arbitrary device spendsmost of its time sleeping to conserve power. Therefore, the arbitrarywireless device is preferably the initiator of frame exchanges.

The arbitrary wireless device will utilize encryption with its AP.Therefore, anchor nodes of the wireless network will not be able todecode payload of the arbitrary wireless device transmissions. However,the anchor nodes can obtain CSI of the transmissions.

In one embodiment, by using frequency domain techniques, it is possibleto build a model for the received signal and use this model to extractdelays with finer resolution than achievable via the sampling clock.This is possible provided that the appropriate channel sense information(CSI) is made available, which is possible for example, in Wi-Fi, LTE,or 5G, since CSI is routinely collected as part of the overall OFDM orSC-FDMA implementation. Channel state information may be usedinterchangeable with channel sense information herein.

The arbitrary wireless device may or may not have 802.11ac (80 mhz)support, may or may not have an inertial sensor (e.g., accelerometer,gyroscope), may or may not have 802.11mc FTM support, and may or may nothave WiFi CSI collection capability. The present design is capable oftriggering the arbitrary wireless device to transmit on demand (or atknown time) such that numerous anchor nodes can simultaneously receivethe transmissions from the arbitrary wireless device. The present designinfluences the arbitrary wireless device to transmit at a highestavailable bandwidth of an access point and can obtain high rangingaccuracy using CSI due to this highest available bandwidth.

For initial set-up of the tracking of the arbitrary wireless device, auser installs a localization or tracking App on the arbitrary wirelessdevice. The user or another person installs anchor nodes in alocalization space or environment (e.g., building). The user or anotherperson installs APs for regular wireless coverage (e.g., WiFi coverage)in the localization space.

FIGS. 4A and 4B illustrate a method for determining a locationestimation of an arbitrary wireless device having an unknown location inaccordance with one embodiment. The operations of method 200 may beexecuted by a wireless device, a wireless control device of a hub (e.g.,an apparatus), cloud network entity, or system, which includesprocessing circuitry or processing logic. The processing logic mayinclude hardware (circuitry, dedicated logic, etc.), software (such asis run on a general purpose computer system or a dedicated machine or adevice), or a combination of both. In one embodiment, at least onewireless device within a localization space and a cloud network entityperform the operations of method 200.

Upon initialization of a wireless network architecture (e.g., wirelesslocal area network (LAN), wireless wide area network (WAN), wirelesscellular network) and initial set-up of the tracking of the arbitrarywireless device, at operation 202, a wireless arbitrary device enters alocalization space (e.g., building) of the wireless network architecturewith the wireless arbitrary device having the localization or trackingapp installed and enabled. At operation 204, a wireless arbitrary devicescans and associates to a local area network (LAN) wireless device(e.g., WiFi access point as per normal WiFi protocols) or wide areanetwork device. After association at operation 204, a localization ortracking Application of the wireless arbitrary device registers with acloud network entity and reports identification and network information(e.g., L2 MAC address, current WiFi channel, and current BSSID (AP MAC))of the wireless arbitrary device at operation 206.

At operation 208, the wireless arbitrary device, a wireless device ofthe localization space, or the cloud network entity initiates ortriggers a localization request for the wireless arbitrary device. Inone example, the localization request is initialized or triggered Ondemand from a cloud user of the cloud network entity. In anotherexample, the localization request is initialized or triggered On demandfrom a user of the wireless arbitrary device. In another example, thelocalization request is Timer-based from the cloud network entity ortimer-based from the wireless arbitrary device. In another example, thelocalization request is initialized or triggered on a motion basis(e.g., accelerometer, gyroscope) from the arbitrary wireless device.

The wireless arbitrary device can be located once when becomingstationary and then tracked or monitored continuously while the wirelessarbitrary device moves. Alternatively, the wireless arbitrary device canbe located once when changing an access point association (proxy formotion).

At operation 210, the cloud network entity (or wireless device of thelocalization space) sends instructions (e.g., commands) to anchor nodeswithin the localization space to prepare for localization of thewireless arbitrary device. In one example, the anchor nodes are withinclose proximity of the access point that is associated with the wirelessarbitrary device. The anchor nodes can be within a same constellationgrouping of the access point or be adjacent to the constellationgrouping of the access point.

At operation 212, the anchor nodes change their RF channel to be thesame as an RF channel of the wireless arbitrary device based on thereceived instructions (e.g., commands). At operation 214, the cloudnetwork entity (or wireless device of the localization space) assignsone of the anchor nodes to be a master anchor node. At operation 216,the master node begins transmitting communications (e.g., frames) forlocalization and other anchor nodes may also begin transmittingcommunications (e.g., frames) at an interval. At operation 218, thecloud network entity sends instructions (e.g., commands) forlocalization to the localization or tracker App of the wirelessarbitrary device.

At operation 220, the wireless arbitrary device sends data traffic(e.g., UDP or ICMP ping) to any known IP address (e.g., associatedaccess point, localization cloud network entity). In one example, for an802.11 layer, WiFi, this traffic will include at least one of Unicastframes directed at the L2 MAC address of the associated access point,and data frames which are likely encrypted and sent at the highestphysical rate supported by the associated access point. The access pointwill acknowledge many of these frames from the wireless arbitrarydevice.

At operation 222, the anchor nodes obtain ranging information (e.g., RXtimestamp) and channel sense information (CSI) of headers of frames fromthe wireless arbitrary device and other anchors nodes. At operation 224,anchor nodes forward this information (e.g., RX timestamp, CSI) to thelocalization cloud network entity for computing localization. In oneexample, frames of the wireless arbitrary device cannot be decrypted ordecoded, so payload will be discarded.

At operation 225, if the wireless arbitrary device is capable ofcollecting CSI, then the wireless arbitrary device will forward CSI offrames received from anchor nodes (or other wireless devices of thelocalization space) to the cloud network entity.

At operation 226, the cloud network entity (or wireless device) computeslocation of the wireless arbitrary device within the localization space(e.g., location of the wireless arbitrary device) using TDoA techniqueson ranging data for ranging measurements between the wireless devicesand wireless arbitrary device of the localization space. Thesetechniques are specified in U.S. application Ser. No. 15/684,893, whichis incorporated by reference herein. In one example, the master anchoris acknowledging frames transmitted by the wireless arbitrary deviceduring the TDoA technique. A localization request may be repeated forcontinuous tracking of the wireless arbitrary device.

FIG. 5A illustrates a system for localization of nodes utilizing timedifference of arrival in accordance with one embodiment. The system 500is configured to have one master node 410 (M410), one wireless arbitrarydevice 440 at an unknown location (N440), access point 411, and anchornodes 420, 430 (e.g., sniff nodes 420, 430). The master node 410 mayinitially perform two way time of flight with RTT and fractionaldistance (as described in the U.S. patent application Ser. No.15/173,531) to each of the sniff nodes. The nodes, arbitrary device, andaccess point may transmit and receive bi-directional communicationsbetween each other. The arbitrary device 440 is associated with theaccess point 411. The system of FIG. 5 is designed to have the masternode 410 transmit a transmission at approximately the same time orwithin a predefined time period of a forward packet of transmission 444being transmitted from the device 440 to the access point 411. The nodes410, 420, and 430 may receive the forward packet of a correspondingtransmission 441, 442, and 443 even though these nodes are not intendedrecipients of the forward packet. The AP 411 sends an acknowledgement412, which is directed to N440 (communication path 412), but reachesseveral anchors (e.g., communication path 413). M410 using variousmethods (e.g., reactive, predictive, hybrid, etc) to transmit a packetwith communications 402, 404 in a nearby timeframe to transmission 444,and this transmission reaches several anchors (communication paths 402and 404). The packet transmitted by M410 may be directed to anotherdevice, or it may simply be broadcast.

FIG. 5B illustrates a timing diagram 550 for localization of a wirelessarbitrary device in accordance with one embodiment. Upon initializationof a wireless network architecture (e.g., wireless local area network(LAN), wireless wide area network (WAN), wireless cellular network) andinitial set-up of the tracking of the wireless arbitrary device, awireless arbitrary device scans and associates to a local area network(LAN) wireless device (e.g., WiFi access point as per normal WiFiprotocols) or a wide area network device. The wireless arbitrary device(e.g., user's device, mobile device, tablet device, etc.) will not beassociated with wireless nodes of the wireless network architecture ingeneral because wireless arbitrary device will only be associated withthe access point 340. At operation 360, a localization or trackingapplication of the wireless arbitrary device 310 registers with a cloudnetwork entity 350 and reports identification and network information(e.g., L2 MAC address, current WiFi channel, and current BSSID (AP MAC))of the wireless arbitrary device. The wireless arbitrary device may alsoinitiate or trigger a localization request for the wireless arbitrarydevice at operation 360.

At operation 362, the cloud network entity 350 (or wireless device ofthe localization space) sends instructions (e.g., commands) to anchornodes 320 within the localization space of the wireless network toprepare for localization of the wireless arbitrary device 310. In oneexample, the anchor nodes are within close proximity of the access point340 that is associated with the wireless arbitrary device. The anchornodes can be within a same constellation grouping of the access point ornearby to the constellation grouping of the access point.

The anchor nodes 320 change their RF channel to be the same as an RFchannel of the wireless arbitrary device based on the receivedinstructions (e.g., commands). At operation 364, the cloud networkentity (or wireless device of the localization space) sends instructionsto assign one of the anchor nodes to be a master anchor node 330 and toprepare for localization based on ranging measurements. At operation366, the cloud network entity sends instructions (e.g., commands) to thelocalization or tracker application of the wireless arbitrary device toprepare for localization.

At operation 368, the wireless arbitrary device sends communicationsincluding data traffic (e.g., UDP or ICMP ping) to any known IP address(e.g., associated access point, localization cloud network entity). Inone example, for an 802.11 layer, WiFi, this traffic will include atleast one of Unicast frames directed at the L2 MAC address of theassociated access point, and data frames which are likely encrypted andsent at the highest physical rate supported by the associated accesspoint. The access point will acknowledge many of these frames from thewireless arbitrary device. The master and anchor nodes may also receivethe transmission 368.

At operation 370, the master node 330 transmits communications (e.g.,frames) for localization to the anchor nodes and the wireless arbitrarydevice. Other anchor nodes may also begin transmitting frames at aninterval.

At operation 372, the wireless arbitrary device 310 transmitscommunications for localization (e.g., frames) to the access point 340.The anchor nodes 320 and master node 330 also receive thesecommunications from the wireless arbitrary device 310.

At operation 374, the master node 330 transmits communications (e.g.,frames) for localization to the anchor nodes and the wireless arbitrarydevice. The operations 368, 370, 372, and 374 perform rangingmeasurements for localization of the wireless arbitrary device.

At operation 380, the anchor nodes transmit communications with rangingmeasurements to the cloud network entity. The anchor nodes receivewireless communications and obtain ranging information (e.g., RXtimestamp, CSI) of frames of the wireless communications from thewireless arbitrary device and other anchors nodes. The anchor nodesforward this ranging information (e.g., RX timestamp, CSI) to thelocalization cloud network entity. In one example, frames of thewireless arbitrary device cannot be decrypted, so payload will bediscarded. At operation 382, the master node transmits communicationswith ranging measurements to the cloud network entity. The master nodereceives wireless communications and obtains ranging information (e.g.,RX timestamp, CSI) of frames of the wireless communications from thewireless arbitrary device and other anchors nodes. Also, the master nodeprovides egress timestamps for transmitted communications to the cloudnetwork entity.

At operation 384, if the wireless arbitrary device is capable ofcollecting CSI, then the wireless arbitrary device will forward rangingmeasurements and CSI of frames received from anchor nodes (or otherwireless devices of the localization space) to the cloud network entity350.

At operation 386, the cloud network entity computes location of thewireless arbitrary device within the localization space (e.g., locationof the wireless arbitrary device) using TDoA techniques based on rangingdata of ranging measurements between the wireless nodes and wirelessarbitrary device of the localization space. The TDoA technique utilizesdata packets from the wireless arbitrary device instead ofacknowledgements packets to improve accuracy of the localization due todata packets receiving a wider frequency bandwidth (e.g., 80 MHz) incomparison to acknowledgement packets for wireless LANs. Thislocalization of the present design is more accurate than using Fine TimeMeasurement (FTM) protocol that requires FTM hardware for WiFi devices.

As disclosed in U.S. application Ser. No. 15/684,893, time of flightmeasurements for ranging are inherently sensitive to the timing ofoperations within the network, and therefore, the clocking of thedevices performing the measurements is important. In one embodiment, anarbitrary device (e.g., mobile device, non-stationary device) at anunknown location can be located via TDoA without a shared clock. Thereceive nodes are synchronized using an additional transaction betweenthe known nodes. Note that the locations of the known nodes can bedetermined using localization as described in the U.S. patentapplication Ser. No. 15/173,531.

FIG. 6A illustrates a method for scheduling a transmission of an anchornode within a same time period as a transmission of a wireless arbitrarydevice in accordance with one embodiment. The operations of method 600may be executed by a wireless device, a wireless control device of a hub(e.g., an apparatus), cloud network entity, or system, which includesprocessing circuitry or processing logic. The processing logic mayinclude hardware (circuitry, dedicated logic, etc.), software (such asis run on a general purpose computer system or a dedicated machine or adevice), or a combination of both. In one embodiment, at least onewireless device within a localization space and a cloud network entityperform the operations of method 600.

The present design provides for transmissions of anchor nodes within asame time period (e.g., within several 100 microseconds) as atransmission of the wireless arbitrary device in order to maintain anunchanged RF channel for localization. It is desired to have masternodes and anchor nodes (sniffer nodes) synchronized with respect to eachother and this synchronization can be triggered with respect toreceiving a forward packet (initial communication from arbitrary device)during TDoA technique. The transmission of the anchor node may simply bebroadcast or may be directed to a WiFi device or cellular device. Thewireless arbitrary device and anchor transmissions may be asynchronouswith different clocking signals.

At operation 602, initialization of a wireless network architecture(e.g., wireless local area network (LAN), wireless wide area network(WAN), wireless cellular network, etc.) occurs, initial set-up of thetracking of the arbitrary wireless device occurs, and operations 202-214occur including an anchor node being assigned to be a master node. Thecloud network entity or a wireless device determines whether an anchornode (e.g., master node) is integrated with the access point that isassociated with the wireless arbitrary device at operation 604. Thisdetermination for operation 604 may also occur prior to completingoperations 202-214 or during operations 202-214.

In one example, if an anchor node (e.g., master node) is integrated withthe access point, then at operation 606 the master node sends at leastone communication with at least one acknowledgement to the arbitrarydevice and this at least one acknowledgement acts as a transmissionduring a same time period as a transmission of the arbitrary device.

Alternatively, if an anchor node is not integrated with the accesspoint, then different implementations occur. In a second example atoperation 608, a reactive option includes an anchor node (e.g., masternode) that transmits soon after receiving any frame that the wirelessarbitrary device has transmitted.

In a third example at operation 610, a predictive option includes ananchor node (e.g., master node) that begins transmitting at an intervalwith the aim of transmitting just prior to the wireless arbitrarydevice. Any frame may be used, but one such option is the IEEE 802.11Clear-to-send (CTS) frame which is designed with a short duration andhas the ability to grant airtime to the wireless arbitrary device.

In a fourth example at operation 612, a hybrid reactive/predictivemethod includes an anchor node (e.g., master node) that waits forinitial transmissions from the wireless arbitrary device beforeinitiating transmissions at an interval.

In a fifth example at operation 614, the cloud network entity triggersthe master node during a long free time period of a desired RF channeland other anchor nodes (e.g., sniffer nodes) discard packets that arrivebefore forward packets of the wireless arbitrary device are received bythe other anchor nodes.

FIG. 6B illustrates a reactive method for scheduling a transmission ofan anchor node within a same time period as a transmission of a wirelessarbitrary device in accordance with one embodiment. The operations ofmethod 700 may be executed by a wireless device, a wireless controldevice of a hub (e.g., an apparatus), cloud network entity, or system,which includes processing circuitry or processing logic. The processinglogic may include hardware (circuitry, dedicated logic, etc.), software(such as is run on a general purpose computer system or a dedicatedmachine or a device), or a combination of both. In one embodiment, atleast one wireless device within a localization space and a cloudnetwork entity perform the operations of method 700. The operations ofmethod 700 represent sub-operations of operation 608 of FIG. 6A.

At operation 702, at least one anchor node (e.g., master node) waits toreceive a packet from the wireless arbitrary device. At operation 704,the at least one anchor node (e.g., master node) receives a packet fromthe wireless arbitrary device. At operation 706, the at least one anchornode (e.g., master node) transmits a communication (e.g.,synchronization packet) to other nodes (e.g., anchor nodes, sniffernodes).

FIG. 6C illustrates a predictive method for scheduling a transmission ofan anchor node within a same time period as a transmission of a wirelessarbitrary device in accordance with one embodiment. The operations ofmethod 800 may be executed by a wireless device, a wireless controldevice of a hub (e.g., an apparatus), cloud network entity, or system,which includes processing circuitry or processing logic. The processinglogic may include hardware (circuitry, dedicated logic, etc.), software(such as is run on a general purpose computer system or a dedicatedmachine or a device), or a combination of both. In one embodiment, atleast one wireless device within a localization space and a cloudnetwork entity perform the operations of method 800. The operations ofmethod 800 represent sub-operations of operation 610 of FIG. 6A.

In one example, an app of the wireless arbitrary device is requested totransmit at a predetermined time in the future, for a predeterminednumber of repetitions, with a predetermined interframe gap betweentransmissions and because most 802.11 frames must contend for thechannel using a random back-off, there is typically tens of microsecondsof uncertainty of when the transmission will actually occur. Atoperation 802, at least one anchor node (e.g., master node) estimateswhen a transmission of a wireless arbitrary device will occur and waitsuntil this predetermined time. At operation 804, the at least one anchornode (e.g., master node) may optionally receive a packet from thewireless arbitrary device. At operation 806, the at least one anchornode (e.g., master node) transmits a communication (e.g.,synchronization packet) to other nodes (e.g., anchor nodes, sniffernodes). At operation 808, the at least one anchor node (e.g., masternode) waits one interframe interval. At operation 810, the at least oneanchor node determines whether any more transmissions from the wirelessarbitrary device are predicted. If so, the method 800 returns tooperation 806. Otherwise, the method terminates.

FIG. 6D illustrates a hybrid method for scheduling a transmission of ananchor node within a same time period as a transmission of a wirelessarbitrary device in accordance with one embodiment. The operations ofmethod 900 may be executed by a wireless device, a wireless controldevice of a hub (e.g., an apparatus), cloud network entity, or system,which includes processing circuitry or processing logic. The processinglogic may include hardware (circuitry, dedicated logic, etc.), software(such as is run on a general purpose computer system or a dedicatedmachine or a device), or a combination of both. In one embodiment, atleast one wireless device within a localization space and a cloudnetwork entity perform the operations of method 900. The operations ofmethod 900 represent sub-operations of operation 612 of FIG. 6A.

In one example, an app of the wireless arbitrary device is requested totransmit at a predetermined time in the future, for a predeterminednumber of repetitions, with a predetermined interframe gap betweentransmissions and because most 802.11 frames must contend for thechannel using a random back-off, there is typically tens of microsecondsof uncertainty of when the transmission will actually occur. Atoperation 902, at least one anchor node (e.g., master node) waits toreceive a packet from a wireless arbitrary device. A precisepredetermined time is not necessary. At operation 904, the at least oneanchor node (e.g., master node) receives a packet from the wirelessarbitrary device. At operation 906, the at least one anchor node (e.g.,master node) transmits a communication (e.g., synchronization packet) toother nodes (e.g., anchor nodes, sniffer nodes). At operation 908, theat least one anchor node (e.g., master node) waits one interframeinterval. This wait may optionally be terminated early upon receiving apacket from the wireless arbitrary device. At operation 910, the atleast one anchor node determines whether any more transmissions from thewireless arbitrary device are predicted. If so, the method 900 returnsto operation 906. Otherwise, the method terminates.

There are several options for the format of the “synchronization” packetas described herein. If the master is also the AP, then thesynchronization packet may be an 802.11 Acknowledgement (or Block-Ack).This has the advantage that APs already send this as part of normalprotocol operation, and it is sent contention-free.

The synchronization packet may be an 802.11 Clear-to-send frame directedto the wireless arbitrary device. This has the advantage that it willclear the channel (suppress transmission of other 802.11 stations) for aspecified width (e.g. 80 MHz) such that the wireless arbitrary devicecan transmit contention-free.

If the master is also the AP and both AP and Node support polling(802.11 HCCA), then the synchronization packet may be a poll which hasthe advantage that it will clear the channel (suppress transmission ofother 802.11 stations) for a specified width (e.g., 80 MHz) such thatthe wireless arbitrary device can transmit contention-free.

The synchronization packet may be any other 802.11 OFDM frame. Anycombination of the above can be used.

Although the wireless arbitrary device can only be associated to asingle AP, there is no restriction on the number of masters, i.e.multiple anchors may transmit synchronization frames during themeasurement. In every topology described herein, there may be one ormore masters.

The communication between hubs, nodes, and wireless arbitrary devices asdiscussed herein may be achieved using a variety of means, including butnot limited to direct wireless communication using radio frequencies,Powerline communication achieved by modulating signals onto theelectrical wiring within the house, apartment, commercial building,etc., WiFi communication using such standard WiFi communicationprotocols as 802.11a, 802.11b, 802.11n, 802.11ac, and other such WifiCommunication protocols as would be apparent to one of ordinary skill inthe art, cellular communication such as GPRS, EDGE, 3G, HSPDA, LTE, 5G,and other cellular communication protocols as would be apparent to oneof ordinary skill in the art, Bluetooth communication, communicationusing well-known wireless sensor network protocols such as Zigbee, andother wire-based or wireless communication schemes as would be apparentto one of ordinary skill in the art.

The implementation of the radio-frequency communication between theterminal nodes and the hubs (e.g., a master node, an anchor node) may beimplemented in a variety of ways including narrow-band, channeloverlapping, channel stepping, multi-channel wide band, and ultra-wideband communications.

The hubs may be physically implemented in numerous ways in accordancewith embodiments of the invention. FIG. 7A shows an exemplary embodimentof a hub implemented as an overlay 1500 for an electrical power outletin accordance with one embodiment. The overlay 1500 (e.g., faceplate)includes a hub 1510 and a connection 1512 (e.g., communication link,signal line, electrical connection, etc.) that couples the hub to theelectrical outlet 1502. Alternatively (or additionally), the hub iscoupled to outlet 1504. The overlay 1500 covers or encloses theelectrical outlets 1502 and 1504 for safety and aesthetic purposes.

FIG. 7B shows an exemplary embodiment of an exploded view of a blockdiagram of a hub 1520 implemented as an overlay for an electrical poweroutlet in accordance with one embodiment. The hub 1520 includes a powersupply rectifier 1530 that converts alternating current (AC), whichperiodically reverses direction, to direct current (DC) which flows inonly one direction. The power supply rectifier 1530 receives AC from theoutlet 1502 via connection 1512 (e.g., communication link, signal line,electrical connection, etc.) and converts the AC into DC for supplyingpower to a controller circuit 1540 via a connection 1532 (e.g.,communication link, signal line, electrical connection, etc.) and forsupplying power to RF circuitry 1550 via a connection 1534 (e.g.,communication link, signal line, electrical connection, etc.). Thecontroller circuit 1540 includes memory 1542 or is coupled to memorythat stores instructions which are executed by processing logic 1544(e.g., one or more processing units) of the controller circuit 1540 forcontrolling operations of the hub for forming, monitoring, andperforming localization of the wireless asymmetrical network asdiscussed herein. The RF circuitry 1550 may include a transceiver orseparate transmitter 1554 and receiver 1556 functionality for sendingand receiving bi-directional communications via antenna(s) 1552 with thewireless sensor nodes. The RF circuitry 1550 (e.g., LAN RF circuitry,WAN RF circuitry, cellular RF circuitry) communicates bi-directionallywith the controller circuit 1540 via a connection 1534 (e.g.,communication link, signal line, electrical connection, etc.). The hub1520 can be a wireless control device 1520 or the controller circuit1540, RF circuitry 1550, and antenna(s) 1552 in combination may form thewireless control device as discussed herein.

FIG. 8A shows an exemplary embodiment of a hub implemented as a card fordeployment in a computer system, appliance, or communication hub inaccordance with one embodiment. The card 1662 can be inserted into thesystem 1660 (e.g., computer system, appliance, or communication hub) asindicated by arrow 1663.

FIG. 8B shows an exemplary embodiment of a block diagram of a hub 1664implemented as a card for deployment in a computer system, appliance, orcommunication hub in accordance with one embodiment. The hub 1664includes a power supply 1666 that provides power (e.g., DC power supply)to a controller circuit 1668 via a connection 1674 (e.g., communicationlink, signal line, electrical connection, etc.) and provides power to RFcircuitry 1670 via a connection 1676 (e.g., communication link, signalline, electrical connection, etc.). The controller circuit 1668 includesmemory 1661 or is coupled to memory that stores instructions which areexecuted by processing logic 1663 (e.g., one or more processing units)of the controller circuit 1668 for controlling operations of the hub forforming, monitoring, and performing localization of the wirelessasymmetrical network including a wireless arbitrary device as discussedherein. The RF circuitry 1670 may include a transceiver or separatetransmitter 1675 and receiver 1677 functionality for sending andreceiving bi-directional communications via antenna(s) 1678 with thewireless sensor nodes. The RF circuitry 1670 (e.g., LAN RF circuitry,WAN RF circuitry, cellular RF circuitry) communicates bi-directionallywith the controller circuit 1668 via a connection 1672 (e.g.,communication link, signal line, electrical connection, etc.). The hub1664 can be a wireless control device 1664 or the controller circuit1668, RF circuitry 1670, and antenna(s) 1678 in combination may form thewireless control device as discussed herein.

FIG. 8C shows an exemplary embodiment of a hub implemented within anappliance (e.g., smart washing machine, smart refrigerator, smartthermostat, other smart appliances, etc.) in accordance with oneembodiment. The appliance 1680 (e.g., smart washing machine) includes ahub 1682.

FIG. 8D shows an exemplary embodiment of an exploded view of a blockdiagram of a hub 1684 implemented within an appliance (e.g., smartwashing machine, smart refrigerator, smart thermostat, other smartappliances, etc.) in accordance with one embodiment. The hub includes apower supply 1686 that provides power (e.g., DC power supply) to acontroller circuit 1690 via a connection 1696 (e.g., communication link,signal line, electrical connection, etc.) and provides power to RFcircuitry 1692 via a connection 1698 (e.g., communication link, signalline, electrical connection, etc.). The controller circuit 1690 includesmemory 1691 or is coupled to memory that stores instructions which areexecuted by processing logic 1688 (e.g., one or more processing units)of the controller circuit 1690 for controlling operations of the hub forforming, monitoring, and performing localization of the wirelessasymmetrical network including a wireless arbitrary device as discussedherein. The RF circuitry 1692 may include a transceiver or separatetransmitter 1694 and receiver 1695 functionality for sending andreceiving bi-directional communications via antenna(s) 1699 with thewireless sensor nodes. The RF circuitry 1692 communicatesbi-directionally with the controller circuit 1690 via a connection 1689(e.g., communication link, signal line, electrical connection, etc.).The RF circuitry 1692 includes at least one of LAN RF circuitry, WAN RFcircuitry, and cellular RF circuitry. The hub 1684 can be a wirelesscontrol device 1684 or the controller circuit 1690, RF circuitry 1692,and antenna(s) 1699 in combination may form the wireless control deviceas discussed herein.

In one embodiment, an apparatus (e.g., hub) for providing a wirelessasymmetric network architecture includes a memory for storinginstructions, processing logic (e.g., one or more processing units,processing logic 1544, processing logic 1663, processing logic 1688,processing logic 1763, processing logic 1888) of the hub to executeinstructions to establish and control communications in a wirelessasymmetric network architecture, and radio frequency (RF) circuitry(e.g., RF circuitry 1550, RF circuitry 1670, RF circuity 1692, RFcircuitry 1890) including multiple antennas (e.g., antenna(s) 1552,antenna(s) 1678, antenna(s) 1699, antennas 1311, 1312, and 1313, etc.)to transmit and receive communications in the wireless asymmetricnetwork architecture. The RF circuitry and multiple antennas to transmitcommunications to a plurality of sensor nodes (e.g., node 1, node 2)each having a wireless device with a transmitter and a receiver (ortransmitter and receiver functionality of a transceiver) to enablebi-directional communications with the RF circuitry of the apparatus inthe wireless asymmetric network architecture.

In one example, a memory for storing instructions includes one or moreprocessing units to execute instructions for controlling a plurality ofsensor nodes in a wireless network architecture (e.g., wireless localarea network (LAN), wireless wide area network (WAN), wireless cellularnetwork) and determining locations of the plurality of sensor nodes anda wireless arbitrary device and radio frequency (RF) circuitry totransmit communications to and receive communications from the pluralityof sensor nodes each having a wireless device with a transmitter and areceiver to enable bi-directional communications with the RF circuitryof the apparatus in the wireless network architecture.

In one example, the apparatus is powered by a mains electrical sourceand the plurality of sensor nodes are each powered by a battery sourceto form the wireless network architecture.

Various batteries could be used in the wireless sensor nodes, includinglithium-based chemistries such as Lithium Ion, Lithium Polymer, LithiumPhosphate, and other such chemistries as would be apparent to one ofordinary skill in the art. Additional chemistries that could be usedinclude Nickel metal hydride, standard alkaline battery chemistries,Silver Zinc and Zinc Air battery chemistries, standard Carbon Zincbattery chemistries, lead Acid battery chemistries, or any otherchemistry as would be obvious to one of ordinary skill in the art.

The present invention also relates to an apparatus for performing theoperations described herein. This apparatus may be specially constructedfor the required purposes, or it may comprise a general purpose computerselectively activated or reconfigured by a computer program stored inthe computer. Such a computer program may be stored in a computerreadable storage medium, such as, but not limited to, any type of diskincluding floppy disks, optical disks, CD-ROMs, and magnetic-opticaldisks, read-only memories (ROMs), random access memories (RAMs), EPROMs,EEPROMs, magnetic or optical cards, or any type of media suitable forstoring electronic instructions.

The algorithms and displays presented herein are not inherently relatedto any particular computer or other apparatus. Various general purposesystems may be used with programs in accordance with the teachingsherein, or it may prove convenient to construct a more specializedapparatus to perform the required method operations.

FIG. 9 illustrates a block diagram of a sensor node in accordance withone embodiment. The sensor node 1700 includes a power source 1710 (e.g.,energy source, battery source, primary cell, rechargeable cell, etc.)that provides power (e.g., DC power supply) to a controller circuit 1720via a connection 1774 (e.g., communication link, signal line, electricalconnection, etc.), provides power to RF circuitry 1770 via a connection1776 (e.g., communication link, signal line, electrical connection,etc.), and provides power to sensing circuitry 1740 via a connection1746 (e.g., communication link, signal line, electrical connection,etc.). The controller circuit 1720 includes memory 1761 or is coupled tomemory that stores instructions which are executed by processing logic1763 (e.g., one or more processing units) of the controller circuit 1720for controlling operations of the sensor node for forming and monitoringthe wireless asymmetrical network as discussed herein. The RF circuitry1770 (e.g., communication circuitry) may include a transceiver orseparate transmitter 1775 and receiver 1777 functionality for sendingand receiving bi-directional communications via antenna(s) 1778 with thehub(s) and optional wireless sensor nodes. The RF circuitry 1770communicates bi-directionally with the controller circuit 1720 via aconnection 1772 (e.g., electrical connection). The RF circuitry 1770includes at least one of LAN RF circuitry, WAN RF circuitry, andcellular RF circuitry. The sensing circuitry 1740 includes various typesof sensing circuitry and sensor(s) including image sensor(s) andcircuitry 1742, moisture sensor(s) and circuitry 1743, temperaturesensor(s) and circuitry, humidity sensor(s) and circuitry, air qualitysensor(s) and circuitry, light sensor(s) and circuitry, motion sensor(s)and circuitry 1744, audio sensor(s) and circuitry 1745, magneticsensor(s) and circuitry 1746, and sensor(s) and circuitry n, etc.

The wireless localization techniques disclosed herein may be combinedwith other sensed information to improve localization accuracy of theoverall network. For example, in wireless sensors in which one or moreof the nodes contain cameras, captured images can be used with imageprocessing and machine learning techniques to determine whether thesensor nodes that are being monitored are looking at the same scene andare therefore likely in the same room. Similar benefits can be achievedby using periodic illumination and photodetectors. By strobing theillumination and detecting using the photodetectors, the presence of anoptical path can be detected, likely indicating the absence of opaquewalls between the strobe and the detector. In other embodiments,magnetic sensors can be integrated into the sensor nodes and used as acompass to detect the orientation of the sensor node that is beingmonitored. This information can then be used along with localizationinformation to determine whether the sensor is on the wall, floor,ceiling, or other location.

In one example, each sensor node may include an image sensor and eachperimeter wall of a house includes one or more sensor nodes. A hubanalyzes sensor data including image data and optionally orientationdata along with localization information to determine absolute locationsfor each sensor node. The hub can then build a three dimensional imageof each room of a building for a user. A floor plan can be generatedwith locations for walls, windows, doors, etc. Image sensors may captureimages indicating a change in reflections that can indicate homeintegrity issues (e.g., water, leaking roof, etc.).

FIG. 10 illustrates a block diagram of a system 1800 having a hub inaccordance with one embodiment. The system 1800 includes or isintegrated with a hub 1882 or central hub of a wireless asymmetricnetwork architecture. The system 1800 (e.g., computing device, smart TV,smart appliance, communication system, etc.) may communicate with anytype of wireless device (e.g., cellular phone, wireless phone, tablet,computing device, smart TV, smart appliance, etc.) for sending andreceiving wireless communications. The system 1800 includes a processingsystem 1810 that includes a controller 1820 and processing units 1814.The processing system 1810 communicates with the hub 1882, anInput/Output (I/O) unit 1830, radio frequency (RF) circuitry 1870, audiocircuitry 1860, an optics device 1880 for capturing one or more imagesor video, an optional motion unit 1844 (e.g., an accelerometer,gyroscope, etc.) for determining motion data (e.g., in three dimensions)for the system 1800, a power management system 1840, andmachine-accessible non-transitory medium 1850 via one or morebi-directional communication links or signal lines 1898, 1818, 1815,1816, 1817, 1813, 1819, 1811, respectively.

The hub 1882 includes a power supply 1891 that provides power (e.g., DCpower supply) to a controller circuit 1884 via a connection 1885 (e.g.,communication link, signal line, electrical connection, etc.) andprovides power to RF circuitry 1890 via a connection 1887 (e.g.,communication link, signal line, electrical connection, etc.). Thecontroller circuit 1884 includes memory 1886 or is coupled to memorythat stores instructions which are executed by processing logic 1888(e.g., one or more processing units) of the controller circuit 1884 forcontrolling operations of the hub for forming and monitoring thewireless asymmetrical network as discussed herein. The RF circuitry 1890may include a transceiver or separate transmitter (TX) 1892 and receiver(RX) 1894 functionality for sending and receiving bi-directionalcommunications via antenna(s) 1896 with the wireless sensor nodes orother hubs. The RF circuitry 1890 communicates bi-directionally with thecontroller circuit 1884 via a connection 1889 (e.g., communication link,signal line, electrical connection, etc.). The RF circuitry 1890includes at least one of LAN RF circuitry, WAN RF circuitry, andcellular RF circuitry. The hub 1882 can be a wireless control device1884 or the controller circuit 1884, RF circuitry 1890, and antenna(s)1896 in combination may form the wireless control device as discussedherein.

RF circuitry 1870 and antenna(s) 1871 of the system or RF circuitry 1890and antenna(s) 1896 of the hub 1882 are used to send and receiveinformation over a wireless link or network to one or more otherwireless devices of the hubs or sensors nodes discussed herein. Audiocircuitry 1860 is coupled to audio speaker 1862 and microphone 1064 andincludes known circuitry for processing voice signals. One or moreprocessing units 1814 communicate with one or more machine-accessiblenon-transitory mediums 1850 (e.g., computer-readable medium) viacontroller 1820. Medium 1850 can be any device or medium (e.g., storagedevice, storage medium) that can store code and/or data for use by oneor more processing units 1814. Medium 1850 can include a memoryhierarchy, including but not limited to cache, main memory and secondarymemory.

The medium 1850 or memory 1886 stores one or more sets of instructions(or software) embodying any one or more of the methodologies orfunctions described herein. The software may include an operating system1852, network services software 1856 for establishing, monitoring, andcontrolling wireless asymmetric network architectures, communicationsmodule 1854, and applications 1858 (e.g., home or building securityapplications, home or building integrity applications, developerapplications, industrial applications, etc.). The software may alsoreside, completely or at least partially, within the medium 1850, memory1886, processing logic 1888, or within the processing units 1814 duringexecution thereof by the device 1800. The components shown in FIG. 18may be implemented in hardware, software, firmware or any combinationthereof, including one or more signal processing and/or applicationspecific integrated circuits.

Communication module 1854 enables communication with other devices. TheI/O unit 1830 communicates with different types of input/output (I/O)devices 1834 (e.g., a display, a liquid crystal display (LCD), a plasmadisplay, a cathode ray tube (CRT), touch display device, or touch screenfor receiving user input and displaying output, an optional alphanumericinput device).

Any of the following examples can be combined into a single embodimentor these examples can be separate embodiments. In one example, anasynchronous system for localization of nodes in a wireless networkarchitecture (e.g., wireless local area network (LAN), wireless widearea network (WAN), wireless cellular network) comprises a plurality ofwireless anchor nodes each having a wireless device with one or moreprocessing units and RF circuitry for transmitting and receivingcommunications in the wireless network architecture, wherein the one ormore processing units of at least one wireless anchor node areconfigured to receive instructions from a cloud network entity toprepare for localization of the wireless arbitrary device, to change aRF channel to be the same as an RF channel of the wireless arbitrarydevice based on the received instructions, to receive a communicationincluding data traffic from the wireless arbitrary device, and to obtainranging information including a receive timestamp and channel senseinformation (CSI) from the data traffic.

In another example, the one or more processing units of at least onewireless anchor node are further configured to send the ranginginformation to the cloud network entity for determining localization ofthe wireless arbitrary device by utilizing a time difference of arrivaltechnique and the ranging information.

In another example, the one or more processing units of at least onewireless anchor node are further configured to send the ranginginformation to the cloud network entity while discarding payload of thereceived data traffic from the wireless arbitrary device.

In another example, the wireless arbitrary device is configured to sendranging information for communications received from the plurality ofwireless anchor nodes to the cloud network entity for determininglocalization of the wireless arbitrary device by utilizing a timedifference of arrival technique and the ranging information.

In another example, the time difference of arrival technique utilizesdata packets of the data traffic from the wireless arbitrary deviceinstead of acknowledgements packets to improve accuracy of thelocalization due to data packets receiving a wider frequency bandwidthin comparison to acknowledgement packets.

In another example, at least one anchor node has a first reference clocksignal and the wireless arbitrary device has a second reference clocksignal.

In another example, one of the plurality of wireless anchor nodes isassigned to be a master node for the wireless network architecture.

In another example, the wireless arbitrary device is associated with anaccess point that is separate from the master node.

In another example, a localization application is installed on thewireless arbitrary device for localization of the wireless arbitrarydevice without changing a wireless network protocol stack of thewireless arbitrary device.

In one example, an apparatus comprises a memory for storinginstructions, one or more processing units to execute instructions forcontrolling a plurality of sensor nodes in a wireless networkarchitecture and to determine locations of the plurality of sensor nodesand a wireless arbitrary device. A radio frequency (RF) circuitry totransmit communications to and receive communications from the pluralityof sensor nodes each having a wireless device with a transmitter and areceiver to enable bi-directional communications with the RF circuitryof the apparatus in the wireless network architecture. The one or moreprocessing units of the apparatus are configured to execute instructionsto prepare for localization of the wireless arbitrary device, to changea RF channel to be the same as an RF channel of the wireless arbitrarydevice, to receive a communication including data traffic from thewireless arbitrary device, and to obtain ranging information including areceive timestamp and channel sense information (CSI) from the datatraffic.

In another example, the one or more processing units of the apparatusare further configured to determine localization of the wirelessarbitrary device by utilizing a time difference of arrival technique andthe ranging information.

In another example, the one or more processing units of the apparatusare further configured to send the ranging information to a cloudnetwork entity for determining localization of the wireless arbitrarydevice by utilizing a time difference of arrival technique and theranging information.

In another example, the one or more processing units of the apparatusare further configured to send the ranging information to the cloudnetwork entity while discarding payload of the received data trafficfrom the wireless arbitrary device.

In another example, the wireless arbitrary device is configured to sendranging information for communications received from the apparatus tothe cloud network entity for determining localization of the wirelessarbitrary device by utilizing a time difference of arrival technique andthe ranging information.

In another example, the time difference of arrival technique utilizesdata packets of the data traffic from the wireless arbitrary deviceinstead of acknowledgements packets to improve accuracy of thelocalization due to data packets receiving a wider frequency bandwidthin comparison to acknowledgement packets.

In another example, the apparatus has a first reference clock signal andthe wireless arbitrary device has a second reference clock signal.

In another example, the apparatus is assigned to be a master node forthe wireless network architecture. The wireless arbitrary device isassociated with an access point that is separate from the master node.

In one example, a computer implemented method for localization of awireless arbitrary device in a wireless network architecture, comprisesinitializing a wireless network architecture having a plurality ofwireless anchor nodes and a plurality of wireless sensor nodes,preparing, with the plurality of wireless anchor nodes, for localizationof the wireless arbitrary device, changing a RF channel of the pluralityof wireless anchor nodes to be the same as a RF channel of the wirelessarbitrary device; receiving, with the plurality of wireless anchornodes, a communication including data traffic from the wirelessarbitrary device, and obtaining, with the plurality of wireless anchornodes, ranging information including a receive timestamp and channelsense information (CSI) from the received data traffic.

In another example, the computer implemented method further comprisesdetermining, with a wireless anchor node, localization of the wirelessarbitrary device by utilizing a time difference of arrival technique andthe ranging information.

In another example, the computer implemented method, further comprisessending, with a wireless anchor node, the ranging information to a cloudnetwork entity for determining localization of the wireless arbitrarydevice by utilizing a time difference of arrival technique and theranging information.

In another example, the wireless anchor node sends the ranginginformation to the cloud network entity while discarding payload of thereceived data traffic from the wireless arbitrary device.

In another example, the wireless arbitrary device is configured to sendranging information for communications received from the apparatus tothe cloud network entity for determining localization of the wirelessarbitrary device by utilizing a time difference of arrival technique andthe ranging information.

In another example, computer implemented method further comprisesassigning an anchor node to be a master node, determining, with a cloudnetwork entity or a wireless anchor node, whether the master node isintegrated with an access point that is associated with the wirelessarbitrary device.

In another example, the master node sends at least one communication toact as a transmission during a same time period as a transmission of thearbitrary device when the master node is integrated with the accesspoint.

In another example, the computer implemented method further comprisesinitializing or triggering a localization request for the wirelessarbitrary device on demand from a cloud user of the cloud network entityor on demand from a user of the wireless arbitrary device.

In another example, the computer implemented method further comprisesinitializing or triggering a localization request for the wirelessarbitrary device due to a timer-based localization request from thecloud network entity, a timer-based localization request from thewireless arbitrary device, or on a motion basis as determined by amotion device of the arbitrary wireless device.

In one example, a computer implemented method for localization of awireless arbitrary device in a wireless network architecture, comprisesinitializing a wireless network architecture having a plurality ofwireless anchor nodes and a plurality of wireless sensor nodes,preparing, with the plurality of wireless anchor nodes, for localizationof the wireless arbitrary device, waiting, with at least one anchornode, to receive a packet from the wireless arbitrary device, receiving,with the at least one anchor node, a communication including a packetfrom the wireless arbitrary device, and transmitting, with the at leastone anchor node, a communication including a synchronization packet toother anchor nodes of the plurality of wireless anchor nodes.

In another example, the computer implemented method further comprisesobtaining, with the at least one wireless anchor node, ranginginformation including a receive timestamp and channel sense information(CSI) from the received communication including the packet from thewireless arbitrary device.

In another example, for a reactive method the at least one anchor nodeincludes a master node to transmit soon after receiving any packet thatthe wireless arbitrary device has transmitted when the master node isnot integrated with an access point that is associated with the wirelessarbitrary device.

In another example, a hybrid method the at least one anchor nodeincludes a master node to wait for initial transmissions from thewireless arbitrary device before initiating transmissions at an intervalwhen the master node is not integrated with an access point.

In another example, for the hybrid method the at least one anchor nodeincludes a master node to wait one interframe interval and this wait isterminated early upon receiving a packet from the wireless arbitrarydevice.

In another example, the wireless network architecture comprises awireless WAN architecture.

In another example, the wireless network architecture comprises at leastone of a wireless local area network (LAN) network architecture and awireless WAN architecture.

In another example, at least one anchor node includes a wireless widearea network (WAN) RF circuitry for transmitting and receiving wirelessRF communications.

In one example, a computer implemented method for localization of awireless arbitrary device in a wireless network architecture, comprisesinitializing a wireless network architecture having a plurality ofwireless anchor nodes and a plurality of wireless sensor nodes,preparing, with the plurality of wireless anchor nodes, for localizationof the wireless arbitrary device, estimating, at least partially with atleast one anchor node, a predetermined time for when a transmission ofthe wireless arbitrary device will occur, and waiting, with the at leastone anchor node, until this predetermined time for when the transmissionoccurs.

In another example, the computer implemented method further comprisestransmitting, with the at least one anchor node, a communicationincluding a synchronization packet to other anchor nodes based uponestimating this predetermined time.

In another example, the computer implemented method further compriseswaiting, with the at least one anchor node, one interframe interval,receiving, with the at least one anchor node, an additional transmissionincluding a packet from the wireless arbitrary device, and transmitting,with the at least one anchor node, an additional communication includinga synchronization packet to other anchor nodes.

In another example, for a predictive method the at least one anchor nodeincludes a master node to begin transmitting at an interval with the aimof transmitting just prior to a transmission of the wireless arbitrarydevice when the master node is not integrated with an access point.

In another example, at least one anchor node includes a wireless widearea network (WAN) RF circuitry for transmitting and receiving wirelessWAN RF communications.

In another example, the wireless WAN RF circuitry comprises a cellularnetwork RF circuitry.

In another example, the wireless network architecture comprises at leastone of a wireless local area network (LAN) network architecture and awireless WAN architecture.

In the foregoing specification, the invention has been described withreference to specific exemplary embodiments thereof. It will, however,be evident that various modifications and changes may be made theretowithout departing from the broader spirit and scope of the invention.The specification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense.

What is claimed is:
 1. A computer implemented method for localization ofa wireless arbitrary device in a wireless network architecture,comprising: initializing a wireless network architecture having aplurality of wireless anchor nodes and a plurality of wireless sensornodes; preparing, with the plurality of wireless anchor nodes, forlocalization of the wireless arbitrary device that is different from theplurality of wireless sensor nodes; estimating, at least partially withat least one anchor node, a predicted predetermined time for when atransmission of the wireless arbitrary device will occur; and waiting,with the at least one anchor node, until this predicted predeterminedtime for when the transmission occurs in order to schedule atransmission of a wireless anchor node within a same time period as thetransmission of the wireless arbitrary device to maintain an unchangedRF channel for localization of the wireless arbitrary device.
 2. Thecomputer implemented method of claim 1, further comprising:transmitting, with the at least one anchor node, a communicationincluding a synchronization packet to synchronize the anchor nodes withrespect to each other based upon the predetermined time for when atransmission of the wireless arbitrary device will occur.
 3. Thecomputer implemented method of claim 2, wherein the synchronizationpacket comprises an acknowledgement, a block acknowledgement, a clear tosend frame, or a poll to suppress transmission from the plurality ofanchor nodes.
 4. The computer implemented method of claim 2, furthercomprising: waiting, with the at least one anchor node, one interframeinterval; receiving, with the at least one anchor node, an additionaltransmission including a packet from the wireless arbitrary device; andtransmitting, with the at least one anchor node, an additionalcommunication including a synchronization packet to other anchor nodes.5. The computer implemented method of claim 2, wherein for a predictivemethod the at least one anchor node includes a master node to begintransmitting at an interval and transmitting just prior to atransmission of the wireless arbitrary device when the master node isnot integrated with an access point.
 6. The computer implemented methodof claim 1, wherein at least one anchor node includes a wireless widearea network (WAN) RF circuitry for transmitting and receiving wirelessWAN RF communications.
 7. The computer implemented method of claim 6,wherein the wireless WAN RF circuitry comprises a cellular network RFcircuitry.
 8. The computer implemented method of claim 1, wherein thewireless network architecture comprises at least one of a wireless localarea network (LAN) network architecture and a wireless WAN architecture.9. The computer implemented method of claim 1, further comprising:requesting the wireless arbitrary device to transmit at a predeterminedtime in the future, for a predetermined number of repetitions, with apredetermined interframe gap between transmissions.
 10. The computerimplemented method of claim 1, wherein the at least one anchor node andthe wireless arbitrary device are asynchronous with different clockingsignals.
 11. An asynchronous system for localization of a wirelessarbitrary device in a wireless network architecture, comprising: aplurality of wireless sensor nodes having RF circuitry; and at least oneanchor node having RF circuitry for transmitting and receiving wirelessRF communications within the wireless network architecture, wherein theat least one anchor node or a cloud network entity is configured toestimate a predicted predetermined time for when a transmission of thewireless arbitrary device will occur and the at least one anchor node isconfigured to wait until this predicted predetermined time for when thetransmission occurs, wherein for a predictive method the at least oneanchor node includes a master node to begin transmitting at an intervaland transmitting just prior to a transmission of the wireless arbitrarydevice when the master node is not integrated with an access point. 12.The asynchronous system of claim 11, wherein the at least one anchornode is further configured to transmit a communication including asynchronization packet to other anchor nodes based upon estimating thispredetermined time.
 13. The asynchronous system of claim 11, wherein theat least one anchor node is further configured to wait one interframeinterval, receive an additional transmission including a packet from thewireless arbitrary device, and transmit an additional communicationincluding a synchronization packet to other anchor nodes.
 14. Theasynchronous system of claim 11, wherein at least one anchor nodeincludes a wireless wide area network (WAN) RF circuitry fortransmitting and receiving wireless WAN RF communications.
 15. Theasynchronous system of claim 14, wherein the wireless WAN RF circuitrycomprises a cellular network RF circuitry.
 16. The asynchronous systemof claim 11, further comprising: one or more processing units of theleast one anchor node or a hub are configured to obtain ranginginformation including a receive timestamp and channel sense information(CSI) from the received transmission including a packet from thewireless arbitrary device.
 17. An anchor node for localization of awireless arbitrary device in a wireless network architecture, the anchornode comprising: RF circuitry for transmitting and receiving wireless RFcommunications within the wireless network architecture; and one or moreprocessing units coupled to the RF circuitry, wherein the one or moreprocessing units are configured to estimate a predicted predeterminedtime for when a transmission of the wireless arbitrary device will occurand wait until this predicted predetermined time for when thetransmission occurs, wherein for a predictive method the anchor nodeincludes a master node to begin transmitting at an interval andtransmitting just prior to a transmission of the wireless arbitrarydevice when the master node is not integrated with an access point. 18.The anchor node of claim 17, wherein the RF circuitry is configured totransmit a communication including a synchronization packet tosynchronize a plurality of anchor nodes with respect to each other basedupon the predetermined time for when a transmission of the wirelessarbitrary device will occur.
 19. The anchor node of claim 18, whereinthe synchronization packet comprises an acknowledgement, a blockacknowledgement, a clear to send frame, or a poll to suppresstransmission from the plurality of anchor nodes.
 20. The anchor node ofclaim 18, wherein the RF circuitry is configured to wait one interframeinterval, to receive an additional transmission including a packet fromthe wireless arbitrary device, and to transmit an additionalcommunication including a synchronization packet to other anchor nodes.